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LeWAM
XuejiFang/LeWAM
LeWAM is a robotics model from XuejiFang. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for diffusers.
LeWAM predicts 32 robot actions per inference call using 10 denoising steps by default. This repository contains the LeWAM predictor, the frozen I-JEPA-Huge vision encoder, the scheduler, and RoboTwin action statistics.
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At a glance
- Task
- Robotics
- Library
- diffusers
- Access
- Public
- Created
- Sep 23, 2026
- Updated
- Sep 23, 2026
- SHA
- cd0624de
Base models
Model card
From the Hugging Face model README
LeWAM
LeWAM predicts 32 robot actions per inference call using 10 denoising steps by default. This repository contains the LeWAM predictor, the frozen I-JEPA-Huge vision encoder, the scheduler, and RoboTwin action statistics.
Download all weights together:
hf download XuejiFang/LeWAM --local-dir outputs/lewam
Use the LeWAM inference code for RoboTwin evaluation. The bundled I-JEPA-Huge encoder is licensed under CC BY-NC 4.0.
- Task
- Robotics
- Library
- diffusers
- Created
- Sep 23, 2026
- Updated
- Sep 23, 2026